ABSTRACT

Robots that can move are called mobile robots. Mobile robots are different from
industrial robots which are installed on the ground and only move their manipulators.
Mobile robots are becoming increasingly popular in commercial and industrial
environments. Mobile robots are increasingly used in domestic environments. [1]

Multi-legged robots are used in space search, first aid, search and rescue after natural
disasters, defense departments, detection and destruction of dangerous explosives,
mining, nuclear power plants and many other fields. The hexapod robots that fall into
the category of multi-legged robots are six-legged walking robots or animatronic
robots. Hexapod robots can have different leg positions, designs and gait patterns.
These robots are highly preferred because it can go through any surface while
maintaining good flexibility.

The hexapod, like other three-legged bodies, is dynamically stable, with its center of
gravity in the middle of the three legs. Unlike wheels or tracks, which can only
operate on smooth terrain, the hexapod's construction allows it to move over irregular
and uneven surfaces. [2]

Hexapod has three pair of legs, and has three servo motors. Each leg pair will be in
the shape of a connecting frame, with one servo motor for the front pair, one for the
middle pair, and one for the rear pair. Hexapod's chassis is the component that
connects all of the legs and electronics. The programme we build to control the
Hexapod Robot is coded using Arduino. The brain, i.e., Arduino Uno, runs the
programme we build and drives the Hexapod according to its commands.

Basic mobility activities such as walking forward, backward and stopping will be
possible for the robot. The legs will be strong, and the robot will have three degrees of
freedom altogether. This robot can be used as a platform for adding additional sensory
components such as a Charge - coupled device camera, Night Vision camera, or
Thermal Camera, and can be programmed to do increasingly sophisticated actions.

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 INTRODUCTION

Robots have contributed substantially to the improvement of human society. It is a

field that requires synergistic effects in different scientific fields. Robots should be
able to live with humans. In this coexistence, human needs and preferences must be
widely respected, integrated and implemented. To this end, modern robotics, in
particular mobile robots on wheels or legs, purposely make use of the perceptive and
motoristic principles borrowed from biological systems and from human cognitive
and adaptive abilities, integrating and perceiving in different ways.

As technology becomes more important in today's world, one must learn not only how
to use it, but also how to develop it. Most initiatives are limited to one discipline. This
hinders the ability to be innovative and creative. As the project encompasses
mechanical, electronic, electrical and software functions, this project encourages
students to explore interdisciplinary connections rather than studying subjects
individually. [3]

Legged Robots are desirable because they can handle terrain comparable to wheel
driven robots. Given the ability to find horizontal piers on site on locally steep terrain,
it is also possible to climb steep corners. Wheeled and tracked vehicles can only
overcome obstacles which are smaller than half the diameter of the wheel.

The most common types of walking robots are two-legged, four-legged, and six-
legged. Hexapods are the most stable of all robots. Therefore, a 6-legged standalone
robot with 18 links (6 links on each leg) with 3 degrees of freedom was created.[4]

The objectives of the robot are:

 Robot's Locomotion & Crawling Strategy of Hexapod

 Wireless Actuation of Legged Robots

 The mechanical structure of robot body and architecture of legs.

 Walking Gaits and Speed

 Autonomy

 Operational Features

 Actuators and Drive Mechanism

 Cost

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 LITERATURE REVIEW

 Bluetooth Controlled Hexapod Robot Design (2021) (K Kavlak, I.A.

Kartal)

The hexapod robot was built and manufactured with Bluetooth control, and the
body and leg linkage strength assessments were performed in this article.
Because of its light weight and strength, Acrylonitrile butadiene styrene
(ABS) was chosen for robot manufacturing. The robot was given two different
walking modes: metachronal and tripod. Maximum stresses were found in the
middle of the unloaded body and the pin holes where the leg component was
connected during strength analysis [5]

 Hexapod Robot Kinematics Modelling and Tripod Gait Design Based on

the Foot End Trajectory (2017) (J. Sun, J. Ren, Y. Jin, B. Wang and D.
Chen)

A hexapod robot is created based on the ant arrangement. The direct and
inverse kinematic models are developed, and the workspace of the foot end is
studied, using the DH parameters and the homogeneous transformation matrix.
The tripod gait is defined by the relationship between the leg's rotation angle
in reference to the body and the foot movement. The swing phase's foot end
trajectories are created using sine and cosine functions, whereas the stance
phase is created using a horizontal straight-line function. The inverse
kinematic equations are used to calculate the angle joint trajectories. Finally,
the tripod gaits are devised, which include straight, transverse, and swivel
gaits. The results of the experiments show how effective the robot gait
planning algorithms are. [6]

 Wireless Control System for Six-Legged Autonomous Insect Robot (2016)

(Swee, Sim Kok, and Amro Al-Qudah)

This paper records the advances in hexapod robotic systems inspired by ants
and cockroaches. In terms of walking style and physical size, the resulting
robot can mimic insects. The robot is controlled wirelessly using the xBee
Bluetooth module and external devices such as Android phones, Windows
PCs and wireless Bluetooth controllers developed on the Arduino
programming platform. Insect robots are a subset of robots designed to mimic
insect behavior. Insect robots have many advantages, such as the ability to
move over rough terrain, low power consumption and small size. [7]

 Design of a hexapod robot with a servo control and a man-machine

interface (2012) (P.S. Pa, and C.M. Wu)

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 In this experiment, a hexapod robot is utilized to investigate its near
surroundings. At the computer end, the man-machine interface application is
designed to detect the environment, plot rudimentary topographic maps, and
control movements using servos. A CPLD was used to create and implement
the servomotor control interface used in this work. The gadget can precisely
create the appropriate pulse width for PWM to operate the robot servos since it
is directly integrated with a single chip. The control approach employed
decreases the stress on the MCU, allowing it to connect with external devices
more effectively. The majority of commercially available robots capable of
creating topographic maps and avoiding obstacles have wheels, and they do
not work well on uneven surfaces.[8]

 Design of a hexapod robot (2012) (J. Li, Y. Wang and T. Wan)

This study provides a new 6-legged robot that can independently adapt to
different terrains using a wheel leg design specifically designed to overcome
obstacles. Interrupts are used to detect the position of the wheel legs, PWMs
are used to control the speed of the motor, buses are used to control the
motors, and walking schedules are used to control the movement of the robot.
The host computer is used to monitor the status of the robot in real time. The
status of the robot can be checked from the host computer or from the user's
mobile device. The status of the robot can also be checked from the host
computer. Finally, the main demonstrator demonstrates the usefulness of this
method in terms of software and hardware design. [9]

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Literature Summary

A hexapod robot is a walking or moving robot with six legs. Leg positioning, leg
designs, and gait patterns in hexapod robots all have a variety of options. Legs can be
arranged in three pairs in the front, center, and back of the body. Gait variation is
greater in six-legged robots than in four-legged robots. This is because the robot's
three legs only touch the ground to keep it balanced. Because the six-legged robot has
more legs than the four-legged robot, the combination for the number of legs in touch
is greater. The robot created for this project has three degrees of freedom in total.
Servo motors are used to move joints.[10]

It can rotate sideways thanks to servo motors that attach the legs to the body. The
joints are moved by the other two servo motors. The CATIA V5R20 program was
used to model the hexapod robot. Arduino is a physical programming platform that
consists of an Input/Output board and a development environment that implements
the processing/wiring language. An ATmega328P, programming, and side elements
required for connecting to other circuits are all included in the hardware of Arduino
boards. An adapter or battery can be used to connect the Arduino board to a computer.
The hexapod robot uses the Hc-05 Bluetooth module. A servo is an automatic device
that senses the functioning of any mechanism and, using a side feedback mechanism,
controls it and eliminates the error. In robot technology, the servomotor is the most
used motor type.

In walking mode, the Hexapod is lifted on one side and the legs on the other side are
used to pull utilizing friction. This is accomplished by utilizing the middle legs, which
are orientated differently than the front and back legs. To pull, make sure one side's
legs are on the ground while the other is in the air. This was accomplished in the
previous phase. The body will now be pulled forward by friction from the legs on the
ground. This is accomplished by using servo motors to drive the legs in the proper
direction. [11]

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 DESIGN AND CONTROL OF ROBOT

Hardware Components

1. Arduino Uno

Arduino Uno is an open source microcontroller board developed by Arduino,

based on the Microchip ATmega328P. The board features a combination of
digital and analog input / output (I / O) pins that can be connected to various
expansion boards (shields) and other circuits. The board has 14 digital I / O
ports (including 6 PWM compatible) and 6 analog I / O ports, which use
Arduino IDE (Integrated Development Environment) via a USB Type B cable.
It can be powered by a USB cable or 9V external battery, but accepts voltages
from 7 to 12V.

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 Fig -1 Arduino Uno

Fig -2 Arduino Uno Schematic

2. High Torque Servo Motors

The servomotor uses a closed-loop servomechanism that detects malfunctions

and negative feedback and corrects the position. Gears, motors, control
circuits, potentiometers and other components make up the servo motor. The
microcontroller first sends a control pulse based on the received pulse width
modulation signal. The pulse width of the voltage transducer converts the
pulse width into a voltage. This converted pulse width is an input of the error
width and produces an output in response to the comparison of the two input
voltages. Another input for this error amplifier is a position sensor or
potentiometer which measures the angular position of the servo arm based on
the error between the two voltage values.

The error amplifier instructs the motor to turn in a specific direction. The
gearbox is then employed to reduce the motor's RPM while increasing torque
at the output. Pulse width modulation (PWM) is a method of encoding data in

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a pulsing signal. Like an analogue signal, the width of the pulses is changed so
that the average of the pulses across different time intervals varies.

Digital devices employ this technology to interface with devices that require
analogue input as well as to transmit analogue data. When the pulse is high,
the pulse width to voltage converter consists of a capacitor that is charged at a
steady rate and allowed to discharge when the pulse is low. Servo motors are
utilized in a range of applications, including industrial robotic arms for
production. Servos are also used to control the surfaces of RC planes and
unmanned aerial vehicles (UAVs).

Fig – 3 Servo Motor Exploded View

Fig – 4 Working of Servo Motor

Fig -5 Servo Position for pulses of different widths

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3. HC05 Bluetooth Module

HC05 is a class 2 module that communicates via serial communication. It can

be installed as a slave or a master. The maximum data transfer rate of this
device is 3 Mbps. It is used in a variety of consumer products, such as wireless
headphones, game controllers, wireless mice, and wireless keyboards. The
range is up to 100 meters, depending on the transmitter and receiver and on
atmospheric, geographic and urban conditions. IEEE 802.15.1 is a standard
protocol for creating wireless PANs (Personal Area Networks). It uses Spread
Spectrum Radio (FHSS) technology to transmit data wirelessly. Communicate
with the device via serial communication. Uses the serial port to communicate
with the microcontroller (USART). To interact with the HC-05 Bluetooth
module, a Bluetooth device application is required to send and receive data to
and from your smartphone. Bluetooth peripherals for Android and Windows
can be found in the respective app store. Therefore, to connect to the HC-05
Bluetooth module via your smartphone, use the USB serial adapter to connect
the HC-05 module to your PC. The HC-05 sends it serially to the PC. The PC
is displayed on the device. You can transfer data from your computer to your
smartphone in the same way.

Fig – 6 HC-05 Bluetooth Module

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 Fig – 7 HC-05 Pin Description

4. Breadboard

Breadboards are a building platform for prototyping equipment. Solderless

plates that do not require soldering can be reused. This is useful for temporary
prototyping and circuit design experiments. As a result, breadboards are
becoming more and more popular with students and in tech education.

Fig – 8 Breadboard

5. M3 & M4 Bolt and Nuts

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 M3 and M4 bolts are used to support and fix the parts of the hexapod robot.
The M3/M4 nut is used to tighten the bolts used in the model so that the parts
used in the model can be fixed in the desired location when the model is in
use.

Fig – 9 M3 and M4 Bolts and Nuts

6. Connecting Wires

To complete all of the necessary connections. Male to Female Single Pin

Connector, Female to Female Single Pin Connector, Male to Male Single Pin
Connector, Barrel Connector, and Arduino USB Cable are just a few of the
options.

Fig – 10 Connecting Wires

7. Perforated Aluminium Strip

Perforated Aluminium Strips are used to build the legs of robot. Three legs
have to be made i.e., Front, Middle and Rear. Both straight and angular metal
strips are used. Aluminium strips are light in weight and have the required
strength to take robot’s weight.

Fig – 11 Perforated Aluminium Strips

Program Logic for Forward Motion

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 Step Leg to Actuate Angle of Servo Arm
Lift Left side of body up Middle 120 deg
Pull Forward using right front Front and Rear 60 deg
and right rear legs which are
in contact with ground
Bring all Legs down – Bring Middle 90 deg
body to level position
Lift right side of body up Middle 60 deg
Pull using the Left front and Front and Rear 90 deg
left rear legs which are on
ground – this brings them to
neutral position
Bring all legs down – Body to Middle 90 deg
level position

Table -4 Logic for Forward Motion

Program Logic for Reverse Motion

Step Leg to Actuate Angle of Servo Arm

Lift Left side of body up Middle 120 deg
Push Backward using right Front and Rear 120 deg
front and right rear legs which
are in contact with ground
Bring all Legs down – Bring Middle 90 deg
body to level position
Lift right side of body up Middle 60 deg
Push using the Left front and Front and Rear 90 deg
left rear legs which are on
ground – this brings them to
neutral position
Bring all legs down – Body to Middle 90 deg
level position

Table – 5 Logic for Backward Motion

Program Logic for Stopping Condition

Step Leg to Actuate Angle of Servo Arm

Bring all Legs back to Ground Front, Middle and Rear 90 deg
and to their initial position

Table – 6 Logic for Stopping Condition

3D CAD Modelling

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Fig - 12-14 3D CAD Model of Robot in CATIA V5R20 Software

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Program for Controlling Robot

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Fig – 15 Arduino Program for controlling Robot

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 FABRICATION
Fabrication

Fig – 16 Perforated Aluminium Strips for Legs

Fig – 17 Servo Motor with U-Clamps

Fig – 18 Three legs of Robot with Servo Motors

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 Fig – 19 Legs and Servo Motor Assembly

Fig – 20 Arduino connected to Legs and Motor Assembly

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 Fig – 21 Electronics incorporated to Robot’s Chassis

Working of Robot

Crawling is a move performed with the aid of hands and knees or by dragging the
body as near to the ground as possible. Crawling is found in a variety of animals and
insects in nature. This is due to the intrinsic static stability that such motion entails.

Crawling in Machines - Crawling as a movement strategy in machines that must move

across uneven surfaces is particularly advantageous. Wheels are clearly more
efficient, but they can only be used on level ground.

We will lift one side of the Hexapod up, and use the legs on the other side, to pull
using friction. Our Hexapod's middle legs can be used to do this. We constructed them
to be oriented differently from the front and back legs for a reason. This configuration
allows us to move the middle legs up and down, allowing us to utilise them to lift
either side of the Hexapod up by regulating the servo motor at any time. We'll merely
utilise the legs that are touching the ground to drag the Hexapod forward because
we're raising one side of the body up. The front and back legs will aid us in our
endeavour. This will be controlled by the servo motor that drives the front and back
legs.

Hexapod can walk back in the same way you do by pushing the ground instead of
pulling. The basic notion is to utilise the front and rear legs to pull forward or push
back, and to elevate the body up for ground clearance, using the middle legs. Every
step in our software will include shifting a servo to a specific position. Because servos
move mechanically, they move at a considerably slower rate than our programme.

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As a result, we must use delay commands in our programme to allow the servo motors
to migrate to their new positions before receiving the next command, allowing us to
move the servo to either side. They rotate to one side by creating angles less than 90
degrees, and they rotate to the opposite side by creating angles more than 90 degrees.

However, you should not give an angle greater than 180 degrees, as this is the
maximum that a servo motor can handle. We can rotate them 90 degrees to restore
them to their original state.

Fig – 22 Block Diagram depicting Working of Robot

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 CONCLUSION AND FUTURE SCOPE
Conclusion

 An overview of the state of the art on six-leg walking robots is detailed.

 Careful attention is paid to the main design issues and constraints that
influence the technical feasibility and performance of these systems.

 A design and control procedure are outlined in order to systematically design a

six-leg walking robot.

Future Scope

Legged robots' tremendous mobility allows them to overcome enormous barriers,

such as steps and stairs, while maintaining statically and dynamically stable gaits. The
adaptable machine may also change its position for inspection and payload delivery.
A six-legged mechanical robot is known as a hexapod robot. It is the most well-
known of the legged robots because it imitates insect crawling action. It can even
move on slightly rocky and uneven terrains thanks to its "legs," making it the favored
mode where there are no roads!

Hexapod Robots can be used for surveillance since they can be programmed to do
progressively sophisticated maneuvers with the inclusion of a sensory component
such as a CCD, Night Vision, or Thermal Camera.

Fig – 23 Hexapod Surveillance Robot

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